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Memorias de investigación
Ponencias en congresos:
Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles
Año:2013
Áreas de investigación
  • Visión por computador
Datos
Descripción
We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.
Internacional
No
Nombre congreso
The 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013)
Tipo de participación
960
Lugar del congreso
Linkoping (Sweeden)
Revisores
Si
ISBN o ISSN
978-1-4799-0879-0
DOI
10.1109/SSRR.2013.6719359
Fecha inicio congreso
21/10/2013
Fecha fin congreso
26/10/2013
Desde la página
1
Hasta la página
6
Título de las actas
Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Jose Luis Sanchez Lopez (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Srikanth Saripalli (Arizona State University (USA))
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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